That's a poor take, steam doesn't set the prices. They take a cut, sure, but so does every store. The dev/publisher sets the price.
Games aren't too cheap, again the publishers set the price and I'm sure there's plenty of research that goes into that.
Im not sure what you think steam are telling publishers to do? The only rules I'm familiar with are the consumer protection rules, and the not selling a steam key cheaper than they're selling the game on steam.
I'm not sure what part of what you've mentioned is therefore a harm to the publishers? Where publishers sell their games for maximum sales is going to be based on where the users are. If another company wanted to change this then they need to focus on what makes the consumer go there. Epics idea to lock publishers into their store with big wads of cash is what is actually harmful to the pc market (and didn't work anyway).
As others have pointed out, competition here is usually dictated by shareholders which means the end user is exploited for maximum profit. One of the reason steam is so successful is that they don't have this problem.